Logical Control Theory Applied to Mechanical Arms (opens in new tab)

Logical Control Theory Applied to Mechanical Arms Pankiewicz, Ronald Joseph A new control algorithm based upon Logical Control Theory is developed for mechanical manipulators. The controller uses discrete tesselations of state space and a finite set of fixed torques to regulate non-rehearsed movements in real time. Varying effective inertia, coupling between degrees of freedom, and fictional, gravitational and Coriolis forces are readily handled. A logical controller was implemented on a mini...